Modeling and control of flexible structures

Abstract

This dissertation is concerned with some topics in the modeling and control of large flexible structures. In the finite element convergence toward the natural modes and frequencies of a structure, it is found that two mechanisms limiting the accuracy of higher modes are, first, a decrease in the number of active degrees of freedom for higher mode approximations due to orthogonality constraints, and, second, the fact that lower computed, rather than actual, eigenfunctions appear in the orthogonality constraints, so that inaccuracy in lower modes inhibits convergence to higher modes. Refining the elements using the hierarchical p-version proves to be far superior to refining the mesh, as demonstrated by numerical examples.

In the third chapter, a method is presented for solving the algebraic eigenvalue problem for a structure, which combines attractive features of the subspace iteration method and the component-mode synthesis methods. Reduced substructure models are generated automatically and coupled exactly to form a reduced structure model, whose eigensolution is used to refine the substructure models. Convergence is much faster than in the subspace iteration method, as demonstrated by numerical examples.

In the fourth chapter, the effectiveness of modal control (IMSC) and direct feedback control, in which the actuator force depends only on the local velocity and displacement, are investigated for suppressing traveling waves on a string and on a beam, both with slight material damping. Direct feedback proves superior for the string, as more modes must be controlled than can be handled by modal control with a limited number of actuators, but inferior for the beam, as effort is wasted suppressing motion in higher modes where damping is pervasive, while modal control focuses effort on those lower modes which need to be controlled.

The optimal vibration control for a distributed system subjected to persistent excitation is not available, so a two-part control is proposed in chapter five for suppressing the motion of a distributed system with a moving support. The first part cancels the moving support's excitation to an optimal extent, and the second is a direct velocity feedback control. A numerical example demonstrates the effectiveness of this control method.